Declaration of the pose-graph Data types and implementation of NodeBuilder and EdgeBuilder interfaces. More...

Collaboration diagram for Pose-Graph:

Classes
class	vslam::AllWeightsOneWeightMap< PoseGraphT >
	property map that represents edge weights in the graph, where all edges have weight 1. More...
class	vslam::FeatureID< G >
	unique identification af landmark observation (feature) in the pose-graph. More...
class	vslam::PerformanceLogger< G >
	Records time elapsed between construction and destruction of this object. More...
class	vslam::Points< G >
struct	boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >
	property map that represents edge weights in the graph, where all edges have weight 1. More...
class	vslam::VertexDebugInfo
	Debugging info for a vertex. More...
Namespaces
namespace	vslam::lmdetails
	Implementation details of Landmark Manager module.
Modules
	Utils
	Set of utilities useful across multiple modules that operate on pose-graph.
	BGL Graph Properties
	Boost Graph Library (BGL) properties for BGL graph PoseGraph forms the representation of of pose-graph part of our Main Data Structure (MDS).
	Node Builder
	Edge Builder
Files
file	graph_builder.h
	Contains code that performs functionality of Node Builder, Node Destroyer, Edge Builder and Landmark Manager (which are components of Main Data Structure).
file	graph_utils.h
file	pose_graph.h
	Interface for Main Data Structure.
Typedefs
typedef readable_property_map_tag	boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >::category
typedef graph_traits< G > ::edge_descriptor	vslam::EdgeBuilder< G >::EdgeD
typedef graph_traits< G > ::edge_descriptor	vslam::MonoFtrClassEdgeBuilder< G >::EdgeD
typedef ALIGNED< pair< int, Vector3d > >::vector	vslam::IdxPoint3dVec
typedef cv::Mat	vslam::OneDetectorNodeBuilder< PoseGraphT >::InputType
typedef cv::Mat	vslam::CustomOneDetectorNodeBuilder< PoseGraphT >::InputType
typedef cv::Mat	vslam::CustomOneDetectorNodeBuilderFeature2D< PoseGraphT >::InputType
typedef graph_traits < PoseGraphT > ::edge_descriptor	boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >::key_type
typedef graph_traits < PoseGraph >::edge_descriptor	vslam::PGEdgeD
typedef graph_traits < PoseGraph > ::vertex_descriptor	vslam::PGVertexD
typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::directedS, boost::property< vertex_kp_t, std::vector< cv::KeyPoint > , boost::property < vertex_desc_t, cv::Mat, boost::property < vertex_fix_idx_t, vector < int >, boost::property < vertex_seq_t, int, boost::property < boost::vertex_keyframe_flag_t, int, boost::property < boost::vertex_debug_info_t, VertexDebugInfo, boost::property < boost::vertex_timestamp_t, uint64_t, boost::property < vertex_transform_t, SE3 > > > > > > > >, boost::property < edge_kp_idx_map_t, map< int, int >, boost::property < edge_transform_t, SE3, boost::property < edge_rel_scale_error_t, double > > > >	vslam::PoseGraph
	representation of a pose-graph.
typedef int	boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >::reference
typedef int	boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >::value_type
typedef boost::graph_traits< G > ::vertex_descriptor	vslam::PerformanceLogger< G >::VDT
typedef graph_traits< G > ::vertex_descriptor	vslam::EdgeBuilder< G >::VertexD
typedef graph_traits< G > ::vertex_descriptor	vslam::MonoFtrClassEdgeBuilder< G >::VertexD
Functions
bool	vslam::EdgeBuilder< G >::build (const VertexD &src, const VertexD &dst, Points< G > &points, G &g)
	Constructs edge between nodes in the pose-graph.
bool	vslam::OneDetectorNodeBuilder< PoseGraphT >::build (const cv::Mat &image, int image_seq_num, uint64_t pose_timestamp, typename graph_traits< PoseGraphT >::vertex_descriptor &vd, PoseGraphT &g)
virtual bool	vslam::EdgeBuilder< G >::buildImpl (const VertexD &src, const VertexD &dst, Points< G > &points, G &g)=0
virtual bool	vslam::MonoFtrClassEdgeBuilder< G >::buildImpl (const VertexD &src, const VertexD &dst, Points< G > &points, G &g)
	vslam::CustomOneDetectorNodeBuilder< PoseGraphT >::CustomOneDetectorNodeBuilder (std::tr1::shared_ptr< cv::FeatureDetector > _detector, std::tr1::shared_ptr< cv::DescriptorExtractor > _extractor)
	vslam::CustomOneDetectorNodeBuilderFeature2D< PoseGraphT >::CustomOneDetectorNodeBuilderFeature2D (std::tr1::shared_ptr< cv::ORB > _feature_2d_detector)
void	vslam::OneDetectorNodeBuilder< PoseGraphT >::demolish (PoseGraphT &g, Points< PoseGraphT > &points, typename graph_traits< PoseGraphT >::vertex_descriptor &vd)
	vslam::FeatureID< G >::FeatureID (typename graph_traits< G >::vertex_descriptor _vd, int _vidx)
void	vslam::PerformanceLogger< G >::forceStop ()
template<class PoseGraphT >
int	vslam::get (AllWeightsOneWeightMap< PoseGraphT > pmap, typename boost::property_traits< AllWeightsOneWeightMap< PoseGraphT > >::key_type vd)
	interface for property map that represents edge weights in the graph, where all edges have weight 1.
cv::Mat	vslam::OneDetectorNodeBuilder< PoseGraphT >::getPoseImage (const InputType &in)
template<class G >
bool	vslam::isLandmakFeature (const G &g, const FeatureID< G > &fid)
	Test if given feature has landmark associated with it.
	vslam::MonoFtrClassEdgeBuilder< G >::MonoFtrClassEdgeBuilder (std::tr1::shared_ptr< RobustFeatureMatcher > _rmatcher)
	vslam::NMSOptions::NMSOptions ()
	turn-off NMS.
	vslam::NMSOptions::NMSOptions (int _target_num_points)
	vslam::OneDetectorNodeBuilder< PoseGraphT >::OneDetectorNodeBuilder (NMSOptions _nms_options=NMSOptions())
	vslam::PerformanceLogger< G >::PerformanceLogger (G &_g, VDT _vd, std::string name_tag)
	vslam::PerformanceLogger< G >::~PerformanceLogger ()
Variables
double	vslam::VertexDebugInfo::avg_reprojection_error
const int	vslam::BAD_INDEX = -1
	value for undefined array index.
shared_ptr< cv::FeatureDetector >	vslam::OneDetectorNodeBuilder< PoseGraphT >::detector
bool	vslam::NMSOptions::do_nms
map< std::string, double >	vslam::VertexDebugInfo::double_propmap
PoseGraphT *	vslam::AllWeightsOneWeightMap< PoseGraphT >::dummy
shared_ptr < cv::DescriptorExtractor >	vslam::OneDetectorNodeBuilder< PoseGraphT >::extractor
shared_ptr< cv::ORB >	vslam::OneDetectorNodeBuilder< PoseGraphT >::feature_2d_detector
G &	vslam::PerformanceLogger< G >::g
SE3	vslam::VertexDebugInfo::gt_T_wc
bool	vslam::VertexDebugInfo::is_kf
cv::Mat	vslam::OneDetectorNodeBuilder< PoseGraphT >::mask
double	vslam::VertexDebugInfo::max_reprojection_error
NMSOptions	vslam::OneDetectorNodeBuilder< PoseGraphT >::nms_options
int	vslam::VertexDebugInfo::num_discontinued_landmarks
int	vslam::VertexDebugInfo::num_extended_landmarks
int	vslam::VertexDebugInfo::num_init_landmarks
int	vslam::VertexDebugInfo::num_uinit_landmarks
lmdetails::PointsLoc< G >	vslam::Points< G >::points
std::tr1::shared_ptr < RobustFeatureMatcher >	vslam::MonoFtrClassEdgeBuilder< G >::rmatcher
uint64_t	vslam::VertexDebugInfo::seq
ros::WallTime	vslam::PerformanceLogger< G >::start_time
bool	vslam::PerformanceLogger< G >::stop_forced
std::string	vslam::PerformanceLogger< G >::str
int	vslam::NMSOptions::target_num_points
uint64_t	vslam::VertexDebugInfo::timestamp
graph_traits< G > ::vertex_descriptor	vslam::FeatureID< G >::vd
VDT	vslam::PerformanceLogger< G >::vd
int	vslam::FeatureID< G >::vidx

Detailed Description

Declaration of the pose-graph Data types and implementation of NodeBuilder and EdgeBuilder interfaces.

Defines pose-graph part of Main Data Structure. This is discussed here BGL Graph Properties [here].

Typedef Documentation

template<class PoseGraphT >

typedef readable_property_map_tag boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >::category

Definition at line 517 of file pose_graph.h.

template<typename G >

typedef graph_traits<G>::edge_descriptor vslam::EdgeBuilder< G >::EdgeD

Reimplemented in vslam::MonoFtrClassEdgeBuilder< G >.

Definition at line 330 of file pose_graph.h.

template<typename G >

typedef graph_traits<G>::edge_descriptor vslam::MonoFtrClassEdgeBuilder< G >::EdgeD

Reimplemented from vslam::EdgeBuilder< G >.

Definition at line 366 of file pose_graph.h.

typedef ALIGNED<pair<int, Vector3d> >::vector vslam::IdxPoint3dVec

Definition at line 276 of file pose_graph.h.

template<class PoseGraphT >

typedef cv::Mat vslam::OneDetectorNodeBuilder< PoseGraphT >::InputType

Reimplemented in vslam::CustomOneDetectorNodeBuilderFeature2D< PoseGraphT >, and vslam::CustomOneDetectorNodeBuilder< PoseGraphT >.

Definition at line 443 of file pose_graph.h.

template<class PoseGraphT >

typedef cv::Mat vslam::CustomOneDetectorNodeBuilder< PoseGraphT >::InputType

Reimplemented from vslam::OneDetectorNodeBuilder< PoseGraphT >.

Definition at line 471 of file pose_graph.h.

template<class PoseGraphT >

typedef cv::Mat vslam::CustomOneDetectorNodeBuilderFeature2D< PoseGraphT >::InputType

Reimplemented from vslam::OneDetectorNodeBuilder< PoseGraphT >.

Definition at line 483 of file pose_graph.h.

template<class PoseGraphT >

typedef graph_traits<PoseGraphT>::edge_descriptor boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >::key_type

Definition at line 516 of file pose_graph.h.

typedef graph_traits<PoseGraph>::edge_descriptor vslam::PGEdgeD

Definition at line 274 of file pose_graph.h.

typedef graph_traits<PoseGraph>::vertex_descriptor vslam::PGVertexD

Definition at line 273 of file pose_graph.h.

typedef boost::adjacency_list< boost::vecS, boost::vecS, boost::directedS, boost::property<vertex_kp_t, std::vector<cv::KeyPoint>, boost::property<vertex_desc_t, cv::Mat, boost::property<vertex_fix_idx_t, vector<int>, boost::property<vertex_seq_t, int, boost::property<boost::vertex_keyframe_flag_t, int, boost::property<boost::vertex_debug_info_t, VertexDebugInfo, boost::property<boost::vertex_timestamp_t, uint64_t, boost::property<vertex_transform_t, SE3> > > > > > > >, boost::property<edge_kp_idx_map_t, map<int,int>, boost::property<edge_transform_t, SE3, boost::property<edge_rel_scale_error_t, double> > > > vslam::PoseGraph

representation of a pose-graph.

Todo:: check under which conditions vertex descriptors are invalidated

Definition at line 271 of file pose_graph.h.

template<class PoseGraphT >

typedef int boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >::reference

Definition at line 515 of file pose_graph.h.

template<class PoseGraphT >

typedef int boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >::value_type

Definition at line 514 of file pose_graph.h.

template<class G>

typedef boost::graph_traits<G>::vertex_descriptor vslam::PerformanceLogger< G >::VDT

Definition at line 287 of file pose_graph.h.

template<typename G >

typedef graph_traits<G>::vertex_descriptor vslam::EdgeBuilder< G >::VertexD

Reimplemented in vslam::MonoFtrClassEdgeBuilder< G >.

Definition at line 329 of file pose_graph.h.

template<typename G >

typedef graph_traits<G>::vertex_descriptor vslam::MonoFtrClassEdgeBuilder< G >::VertexD

Reimplemented from vslam::EdgeBuilder< G >.

Definition at line 365 of file pose_graph.h.

Function Documentation

template<typename G >

bool vslam::EdgeBuilder< G >::build	(	const VertexD &	src,
		const VertexD &	dst,
		Points< G > &	points,
		G &	g
	)		`[inline]`

Constructs edge between nodes in the pose-graph.

Invariant:

after sucessfull call the following holds

all intended 2-view matching is done on the edge and enough correspondences survived (i.e. edge_kp_idx_map contains final values)
feature-landmark association is called on the results of 2-view matching
initial estimate for RBT T_wc is stored in vertex_transform.
edge_transform is computed and is consistent with vertex_transform.

Note:: Pose-graph is oriented graph where edge (u,v) is present iff edge (v,u) is present. Thus tvd and qvd parameters are interchangable.; Method implemented as virtual.

Definition at line 350 of file pose_graph.h.

template<class PoseGraphT >

bool vslam::OneDetectorNodeBuilder< PoseGraphT >::build	(	const cv::Mat &	image,
		int	image_seq_num,
		uint64_t	pose_timestamp,
		typename graph_traits< PoseGraphT >::vertex_descriptor &	vd,
		PoseGraphT &	g
	)

Parameters:

image	camera image recorded at the node
image_seq_num	unique node id, it is requred for debugging and for identifying vertices in graph-opt.h
vd	vertex descriptor for newly constructed vertex.

Returns:: indicates sucess of the call.

Invariant:: after calling this sucessfully, properties vertex_kp, vertex_desc, vertex_fix_idx, vertex_seq contain correct values for vertex vd. If the call fails, g is not modyfied.

Definition at line 178 of file graph_builder.h.

template<typename G >

virtual bool vslam::EdgeBuilder< G >::buildImpl	(	const VertexD &	src,
		const VertexD &	dst,
		Points< G > &	points,
		G &	g
	)		`[pure virtual]`

Implemented in vslam::MonoFtrClassEdgeBuilder< G >.

template<class G >

bool vslam::MonoFtrClassEdgeBuilder< G >::buildImpl	(	const VertexD &	src,
		const VertexD &	dst,
		Points< G > &	points,
		G &	g
	)		`[virtual]`

Todo:: remove minimum idsparity check.

Implements vslam::EdgeBuilder< G >.

Definition at line 668 of file graph_builder.h.

template<class PoseGraphT >

vslam::CustomOneDetectorNodeBuilder< PoseGraphT >::CustomOneDetectorNodeBuilder	(	std::tr1::shared_ptr< cv::FeatureDetector >	_detector,
		std::tr1::shared_ptr< cv::DescriptorExtractor >	_extractor
	)		`[inline]`

Definition at line 472 of file pose_graph.h.

template<class PoseGraphT >

vslam::CustomOneDetectorNodeBuilderFeature2D< PoseGraphT >::CustomOneDetectorNodeBuilderFeature2D ( std::tr1::shared_ptr< cv::ORB > _feature_2d_detector ) [inline]

Definition at line 484 of file pose_graph.h.

template<class PoseGraphT >

void vslam::OneDetectorNodeBuilder< PoseGraphT >::demolish	(	PoseGraphT &	g,
		Points< PoseGraphT > &	points,
		typename graph_traits< PoseGraphT >::vertex_descriptor &	vd
	)

Todo:: what does it exactly do?

Definition at line 221 of file graph_builder.h.

template<class G>

vslam::FeatureID< G >::FeatureID	(	typename graph_traits< G >::vertex_descriptor	_vd,
		int	_vidx
	)		`[inline]`

Definition at line 177 of file pose_graph.h.

template<class G>

void vslam::PerformanceLogger< G >::forceStop ( ) [inline]

Definition at line 305 of file pose_graph.h.

template<class PoseGraphT >

int vslam::get	(	AllWeightsOneWeightMap< PoseGraphT >	pmap,
		typename boost::property_traits< AllWeightsOneWeightMap< PoseGraphT > >::key_type	vd
	)

interface for property map that represents edge weights in the graph, where all edges have weight 1.

Definition at line 526 of file pose_graph.h.

template<class PoseGraphT >

cv::Mat vslam::OneDetectorNodeBuilder< PoseGraphT >::getPoseImage ( const InputType & in ) [inline]

Definition at line 445 of file pose_graph.h.

template<class G >

bool vslam::isLandmakFeature	(	const G &	g,
		const FeatureID< G > &	fid
	)

Test if given feature has landmark associated with it.

Definition at line 182 of file pose_graph.h.

template<typename G >

vslam::MonoFtrClassEdgeBuilder< G >::MonoFtrClassEdgeBuilder ( std::tr1::shared_ptr< RobustFeatureMatcher > _rmatcher ) [inline]

Definition at line 389 of file pose_graph.h.

vslam::NMSOptions::NMSOptions ( ) [inline]

turn-off NMS.

Definition at line 417 of file pose_graph.h.

vslam::NMSOptions::NMSOptions ( int _target_num_points ) [inline]

Parameters:

_target_num_points approximate number of points to retain after NMS.

Definition at line 419 of file pose_graph.h.

template<class PoseGraphT >

vslam::OneDetectorNodeBuilder< PoseGraphT >::OneDetectorNodeBuilder ( NMSOptions _nms_options = NMSOptions() ) [inline, protected]

Definition at line 438 of file pose_graph.h.

template<class G>

vslam::PerformanceLogger< G >::PerformanceLogger	(	G &	_g,
		VDT	_vd,
		std::string	name_tag
	)		`[inline]`

Definition at line 295 of file pose_graph.h.

template<class G>

vslam::PerformanceLogger< G >::~PerformanceLogger ( ) [inline]

Definition at line 301 of file pose_graph.h.

Variable Documentation

double vslam::VertexDebugInfo::avg_reprojection_error

Definition at line 245 of file pose_graph.h.

const int vslam::BAD_INDEX = -1

value for undefined array index.

Definition at line 168 of file pose_graph.h.

template<class PoseGraphT >

shared_ptr<cv::FeatureDetector> vslam::OneDetectorNodeBuilder< PoseGraphT >::detector [protected]

Definition at line 433 of file pose_graph.h.

bool vslam::NMSOptions::do_nms

Definition at line 413 of file pose_graph.h.

map<std::string, double> vslam::VertexDebugInfo::double_propmap

Definition at line 250 of file pose_graph.h.

template<class PoseGraphT >

PoseGraphT* vslam::AllWeightsOneWeightMap< PoseGraphT >::dummy [private]

Definition at line 507 of file pose_graph.h.

template<class PoseGraphT >

shared_ptr<cv::DescriptorExtractor> vslam::OneDetectorNodeBuilder< PoseGraphT >::extractor [protected]

Definition at line 432 of file pose_graph.h.

template<class PoseGraphT >

shared_ptr<cv::ORB> vslam::OneDetectorNodeBuilder< PoseGraphT >::feature_2d_detector [protected]

Definition at line 434 of file pose_graph.h.

template<class G>

G& vslam::PerformanceLogger< G >::g [private]

Definition at line 289 of file pose_graph.h.

SE3 vslam::VertexDebugInfo::gt_T_wc

Definition at line 249 of file pose_graph.h.

bool vslam::VertexDebugInfo::is_kf

Definition at line 238 of file pose_graph.h.

template<class PoseGraphT >

cv::Mat vslam::OneDetectorNodeBuilder< PoseGraphT >::mask [protected]

Definition at line 435 of file pose_graph.h.

double vslam::VertexDebugInfo::max_reprojection_error

Definition at line 246 of file pose_graph.h.

template<class PoseGraphT >

NMSOptions vslam::OneDetectorNodeBuilder< PoseGraphT >::nms_options [protected]

Definition at line 436 of file pose_graph.h.

int vslam::VertexDebugInfo::num_discontinued_landmarks

Definition at line 247 of file pose_graph.h.

int vslam::VertexDebugInfo::num_extended_landmarks

Definition at line 248 of file pose_graph.h.

int vslam::VertexDebugInfo::num_init_landmarks

Definition at line 243 of file pose_graph.h.

int vslam::VertexDebugInfo::num_uinit_landmarks

Definition at line 244 of file pose_graph.h.

template<class G>

lmdetails::PointsLoc<G> vslam::Points< G >::points [private]

Definition at line 204 of file pose_graph.h.

template<typename G >

std::tr1::shared_ptr<RobustFeatureMatcher> vslam::MonoFtrClassEdgeBuilder< G >::rmatcher [protected]

Definition at line 368 of file pose_graph.h.

uint64_t vslam::VertexDebugInfo::seq

Definition at line 236 of file pose_graph.h.

template<class G>

ros::WallTime vslam::PerformanceLogger< G >::start_time [private]

Definition at line 292 of file pose_graph.h.

template<class G>

bool vslam::PerformanceLogger< G >::stop_forced [private]

Definition at line 293 of file pose_graph.h.

template<class G>

std::string vslam::PerformanceLogger< G >::str [private]

Definition at line 291 of file pose_graph.h.

int vslam::NMSOptions::target_num_points

Definition at line 414 of file pose_graph.h.

uint64_t vslam::VertexDebugInfo::timestamp

Definition at line 237 of file pose_graph.h.

template<class G>

graph_traits<G>::vertex_descriptor vslam::FeatureID< G >::vd

Definition at line 174 of file pose_graph.h.

template<class G>

VDT vslam::PerformanceLogger< G >::vd [private]

Definition at line 290 of file pose_graph.h.

template<class G>

int vslam::FeatureID< G >::vidx

Definition at line 175 of file pose_graph.h.

Classes

Namespaces

Modules

Files

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation